Large power grid frequency safety multi-measure cooperative control method and device

Abstract

The invention provides a large power grid frequency safety multi-measure cooperative control method and device, and relates to the field of power system maintenance, and the method comprises the steps: carrying out the Laplace inverse transformation of a pre-constructed system frequency response model, and obtaining a time domain expression of system frequency response; generating a frequency safety index under multiple control measures according to the time domain expression; calculating a cooperative control quantity of each measure according to a constraint condition corresponding to the frequency safety index; wherein the measures comprise direct current modulation, pumping and storage pump switching, energy storage and precise load control. According to the invention, multi-measure collaborative analysis control decision of large power grid frequency safety can be realized.

Description

Technical Field

[0001] The present application relates to the field of power system maintenance, and specifically to a method and device for coordinated control of multi-measures for frequency safety of a large power grid. Background Art

[0002] In recent years, the proportion of long-distance power transmission and large-scale renewable energy power generation in the power grid has increased rapidly, and the frequency safety problem of the power grid has become increasingly serious. First, the occasional failure of long-distance power transmission and the random intermittent nature of renewable energy power sources have significantly increased the unbalanced power impact of the system; second, the power electronic access system of the "source-grid-load-storage" link represented by renewable energy power generation, ultra-high voltage direct current transmission, new loads and microgrids has led to a decrease in the inertia level of the power grid and weakened the frequency support capacity of the system. In recent years, a series of frequency safety incidents caused by high-power disturbances have occurred, indicating that frequency safety has become a serious problem in modern power systems.

[0003] In the prior art, load control technologies for power grids after faults occur include frequency emergency coordination control systems and millisecond-level precise load control systems. After a large power disturbance occurs in the power grid, the power control amount of DC modulation, pumped storage and pump cutting, and millisecond-level precise load control is decided by the "offline budget, real-time matching" method according to the power disturbance situation, and sent to the substation for execution. However, after the offline calculation control decision table is compiled, it cannot be easily changed. In actual application, there may be problems such as poor control accuracy and lack of adaptive ability.

[0004] This section is intended to provide a background or context to the embodiments of the invention recited in the claims. No admission is made that the description herein is prior art by inclusion in this section. Summary of the invention

[0005] In response to the problems in the prior art, the present application provides a method and device for coordinated control of multiple measures for frequency safety of a large power grid, which can realize coordinated analysis and control decision-making of multiple measures for frequency safety of a large power grid.

[0006] In order to solve the above technical problems, this application provides the following technical solutions:

[0007] In a first aspect, the present application provides a large power grid frequency safety multi-measure coordinated control method, comprising:

[0008] Perform inverse Laplace transform on the pre-built system frequency response model to obtain the time domain expression of the system frequency response;

[0009] Generate a frequency safety index under multiple control measures according to the time domain expression;

[0010] The coordinated control amount of each measure is calculated according to the constraint conditions corresponding to the frequency safety index.

[0011] Furthermore, the pre-built system frequency response model is subjected to an inverse Laplace transform to obtain a time domain expression of the system frequency response, including:

[0012] Determine the constant term of the frequency deviation expression according to the constant term coefficient;

[0013] Determine the monotonic attenuation term of the frequency deviation expression according to the monotonic attenuation term coefficient and the monotonic attenuation term time constant;

[0014] Determine the oscillation attenuation term of the frequency deviation expression according to the oscillation attenuation term coefficient, the oscillation attenuation term time constant, the oscillation attenuation term angular frequency and the oscillation attenuation term initial phase;

[0015] Determine the frequency deviation expression according to the constant term, the monotonic attenuation term and the oscillation attenuation term;

[0016] A time domain expression of the system frequency response is generated according to the steady-state frequency expression and the frequency deviation expression.

[0017] Further, the frequency safety index includes an initial frequency change rate; the frequency safety index under multiple control measures is generated according to the time domain expression, including:

[0018] Calculate the frequency at the zeroth moment and the frequency at the first moment respectively according to the time domain expression;

[0019] Calculate the frequency change rate during the control process according to the zeroth moment frequency and the first moment frequency;

[0020] The frequency change rate in the control process is linearized to obtain the initial frequency change rate.

[0021] Further, the frequency safety index includes a frequency maximum value; the step of generating the frequency safety index under multiple control measures according to the time domain expression includes:

[0022] Calculate the frequency change when the frequency reaches the maximum value according to the time when the frequency reaches the maximum value and the time domain expression;

[0023] The sum of the steady-state frequency in the steady-state frequency expression and the frequency change when the frequency reaches the maximum value is determined as the frequency maximum value.

[0024] Further, the frequency safety index includes a frequency steady-state value; the step of generating the frequency safety index under multiple control measures according to the time domain expression includes:

[0025] Calculate the final value of the system frequency change when the time in the time domain expression approaches infinity;

[0026] The sum of the steady-state frequency in the steady-state frequency expression and the final value of the system frequency change is determined as the frequency steady-state value.

[0027] Furthermore, the calculating of the safety multi-measure coordinated control amount according to the constraint conditions corresponding to the frequency safety index includes:

[0028] If the initial frequency change rate is greater than a preset allowable value of the initial frequency change rate, determining a first power control amount according to the monotonic attenuation term time constant, the power control delay before taking measures, the power control amount, the monotonic attenuation term coefficient, the oscillation attenuation term coefficient and the oscillation attenuation term angular frequency;

[0029] If the frequency maximum is less than the preset frequency maximum allowable value, determine the second power control amount according to the power control delay, power control amount, constant term coefficient, oscillation attenuation term coefficient, frequency maximum time, oscillation attenuation term angular frequency, oscillation attenuation term initial phase and steady-state frequency expression before taking the measures;

[0030] Determine a third power control amount according to the steady-state frequency expression, the constant term coefficient and the power control amount;

[0031] Determine a maximum power control amount among the first power control amount, the second power control amount, and the third power control amount as a safety multi-measure coordinated control amount.

[0032] In a second aspect, the present application provides a large power grid frequency safety multi-measure coordinated control device, comprising:

[0033] A time domain expression determination unit is used to perform an inverse Laplace transform on a pre-built system frequency response model to obtain a time domain expression of the system frequency response;

[0034] A safety index determination unit, used for generating a frequency safety index under multiple control measures according to the time domain expression;

[0035] The collaborative control determination unit is used to calculate the collaborative control amount of each measure according to the constraint conditions corresponding to the frequency safety index.

[0036] Furthermore, the time domain expression determination unit includes:

[0037] A constant term generating module, used for determining a constant term of a frequency deviation expression according to a constant term coefficient;

[0038] A monotonic attenuation term generating module, used for determining the monotonic attenuation term of the frequency deviation expression according to the monotonic attenuation term coefficient and the monotonic attenuation term time constant;

[0039] An oscillation attenuation term generating module, used for determining the oscillation attenuation term of the frequency deviation expression according to the oscillation attenuation term coefficient, the oscillation attenuation term time constant, the oscillation attenuation term angular frequency and the oscillation attenuation term initial phase;

[0040] A deviation expression generating module, used for determining the frequency deviation expression according to the constant term, the monotonic attenuation term and the oscillation attenuation term;

[0041] The time domain expression generation module is used to generate the time domain expression of the system frequency response according to the steady-state frequency expression and the frequency deviation expression.

[0042] Furthermore, the frequency safety index includes an initial frequency change rate; and the safety index determination unit includes:

[0043] A time frequency determination module, used to calculate the zeroth time frequency and the first time frequency respectively according to the time domain expression;

[0044] A process frequency change determination module, used to calculate the frequency change rate in the control process according to the zeroth moment frequency and the first moment frequency;

[0045] The initial change determination module is used to linearize the frequency change rate in the control process to obtain the initial frequency change rate.

[0046] Further, the frequency safety index includes a maximum frequency value; the safety index determination unit includes:

[0047] A maximum frequency change determination module, used for calculating the frequency change amount when the frequency reaches the maximum value according to the time when the frequency reaches the maximum value and the time domain expression;

[0048] The frequency maximum value determination module is used to determine the sum of the steady-state frequency in the steady-state frequency expression and the frequency change when the frequency reaches the maximum value as the frequency maximum value.

[0049] Further, the frequency safety index includes a frequency steady-state value; the safety index determination unit includes:

[0050] A final value change determination module, used to calculate the final value of the system frequency change when the time in the time domain expression tends to infinity;

[0051] The frequency steady-state determination module is used to determine the sum of the steady-state frequency in the steady-state frequency expression and the final value of the system frequency change as the frequency steady-state value.

[0052] Furthermore, the collaborative control determination unit includes:

[0053] A first power control determination module is configured to determine a first power control amount according to the monotonic attenuation term time constant, the power control delay before taking measures, the power control amount, the monotonic attenuation term coefficient, the oscillation attenuation term coefficient and the oscillation attenuation term angular frequency if the initial frequency change rate is greater than a preset initial frequency change rate allowable value;

[0054] A second power control determination module is used to determine the second power control amount according to the power control delay, power control amount, constant term coefficient, oscillation attenuation term coefficient, frequency maximum time, oscillation attenuation term angular frequency, oscillation attenuation term initial phase and steady-state frequency expression before taking measures if the frequency maximum value is less than the preset frequency maximum allowable value;

[0055] A third power control determination module, configured to determine a third power control amount according to the steady-state frequency expression, the constant term coefficient and the power control amount;

[0056] The collaborative control determination module is used to determine that the maximum power control amount among the first power control amount, the second power control amount and the third power control amount is a safety multi-measure collaborative control amount.

[0057] In a third aspect, the present application provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the large power grid frequency safety multi-measure coordinated control method when executing the program.

[0058] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the large power grid frequency safety multi-measure coordinated control method.

[0059] In a fifth aspect, the present application provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the steps of the large power grid frequency safety multi-measure coordinated control method.

[0060] In response to the problems in the prior art, the large power grid frequency safety multi-measure coordinated control method and device provided in the present application can expand the system frequency response under multiple control measures (including but not limited to DC modulation, pumped storage and pump cutting, and millisecond-level precise load control) into a superposition of multiple frequency responses taking into account delayed power changes, and derive an analytical calculation formula for frequency safety indicators taking into account the influence of multiple measures, and then obtain an analytical calculation formula for control decisions under the constraints of multiple safety indicators, thereby realizing coordinated control of multiple measures for large power grid frequency safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0062] Figure 1 It is a schematic diagram of the frequency response multi-process of the present invention with emergency control measures in mind;

[0063] Figure 2 is a flow chart of a frequency control decision analysis method implemented in the present invention;

[0064] Figure 3 This is a flow chart of a large power grid frequency safety multi-measure coordinated control method in an embodiment of the present application;

[0065] Figure 4 A flowchart of obtaining a time domain expression of a system frequency response in an embodiment of the present application;

[0066] Figure 5 This is one of the flow charts for determining the frequency safety index in the embodiment of the present application;

[0067] Figure 6 This is the second flow chart for determining the frequency safety index in the embodiment of the present application;

[0068] Figure 7 This is the third flow chart of determining the frequency safety index in the embodiment of the present application;

[0069] Figure 8 This is a flow chart for calculating the safety multi-measure collaborative control amount in an embodiment of the present application;

[0070] Fig. 9 This is a structural diagram of a large power grid frequency safety multi-measure coordinated control device in an embodiment of the present application;

[0071] Fig.10 This is a structural diagram of a time domain expression determination unit in an embodiment of the present application;

[0072] Fig.11 This is one of the structural diagrams of the safety indicator determination unit in the embodiment of the present application;

[0073] Fig.12 This is the second structural diagram of the safety indicator determination unit in the embodiment of the present application;

[0074] Fig.13 This is the third structural diagram of the safety indicator determination unit in the embodiment of the present application;

[0075] Fig.14This is a structural diagram of a collaborative control determination unit in an embodiment of the present application;

[0076] Fig.15 It is a schematic diagram of the structure of an electronic device in an embodiment of the present application. DETAILED DESCRIPTION

[0077] To make the purpose, technical solution and advantages of the embodiments of the present invention more clear, the embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings. Here, the exemplary embodiments of the present invention and their descriptions are used to explain the present invention, but are not intended to limit the present invention.

[0078] The information collected in the technical solution of this application is information and data authorized by the user or fully authorized by all parties, and the collection, storage, use, processing, transmission, provision, disclosure and application of relevant data comply with the relevant laws, regulations and standards of relevant countries and regions, take necessary confidentiality measures, do not violate public order and good morals, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0079] Provide users with corresponding operation entrances for them to choose to agree or reject the automated decision-making results; if the user chooses to reject, the expert decision-making process will be entered.

[0080] In one embodiment, see Figure 3 In order to realize the multi-measure coordinated analytical control decision of large power grid frequency security, the present application provides a multi-measure coordinated control method for large power grid frequency security, including:

[0081] S101: Perform inverse Laplace transform on the pre-built system frequency response model to obtain a time domain expression of the system frequency response;

[0082] S102: generating a frequency safety index under multiple control measures according to the time domain expression;

[0083] S103: Calculating the coordinated control quantity of each measure according to the constraint conditions corresponding to the frequency safety index; wherein the measures include DC modulation, pumped storage and pump cutting, energy storage and precise load control.

[0084] It can be understood that the multi-measure collaborative analytical control decision for implementing large power grid frequency safety provided in this application expands the system frequency response under multiple control measures (such as DC modulation, pumped storage and pump cutting, and millisecond-level precise load control, but not limited to the above) into a superposition of multiple frequency responses taking into account delayed power changes, and obtains the analytical calculation formula for the frequency safety index taking into account the influence of multiple measures, and then obtains the analytical calculation formula for the control decision under the constraints of multiple safety indicators, which includes the following steps:

[0085] Step 1, perform inverse Laplace transform on the complex frequency domain expression of the large power grid frequency response to obtain an analytical formula for the system frequency response under emergency control;

[0086] Step 2: Determine the frequency safety index analytical formula under emergency control according to the system frequency response analytical formula obtained in step 1;

[0087] Step 3: Derive the analytical calculation formula for control decision under multiple safety index constraints.

[0088] Specifically, in step 1, the complex frequency domain expression of the large power grid frequency response is subjected to an inverse Laplace transform to obtain the time domain expression of the frequency response. The analytical formula of the frequency response under emergency control taking into account multiple control measures can be expressed as:

[0089]

[0090] Where ε(t) is the unit step response function, f 0 is the system steady-state frequency, ΔP i is the i-th power control amount, τ i To control the delay, C 0 , C 1 , C 2 are the coefficients of the constant term, monotonic attenuation term, and oscillatory attenuation term, respectively. 1 , T 2 are the time constants of the monotonic decay term and the oscillatory decay term, ω 2 is the angular frequency of the oscillation attenuation term, θ is the initial phase of the oscillation attenuation term, and t is time.

[0091] In step 2, the analytical formula of the frequency safety index under the action of the i-th control measure is:

[0092] (1) Initial frequency change rate:

[0093]

[0094] In the formula, S i is the frequency change rate within 1s of the i-th control, ΔP i is the power control amount of the ith control, C 1 , C 2 are the coefficients of the monotonic attenuation term and the oscillatory attenuation term, T 1 is the time constant of the monotonic decay term, ω 2 is the angular frequency of the oscillation attenuation term, τ i is the i-th control delay, and m means there are m control actions within 1 second.

[0095] (2) Frequency maximum:

[0096] Frequency maximum f mand frequency maximum time T m One-to-one correspondence, T m is the time when the frequency reaches the maximum value. Since the frequency maximum time is relatively large, the monotonic attenuation term in formula (17) can be ignored, and T m Substituting into formula (17), we get:

[0097]

[0098] In the formula, f m is the maximum frequency, T m is the frequency maximum time, f 0 is the system steady-state frequency, C 0 , C 2 are the coefficients of the constant term and the oscillation attenuation term, ΔP i is the power control amount of the ith control, ω 2 is the angular frequency of the oscillation attenuation term, θ is the initial phase of the oscillation attenuation term, m means there are m control actions in 1 second, τ i is the control delay of the ith time, T 2 is the time constant of the oscillation decay term.

[0099] (3) Frequency steady-state value:

[0100] The frequency steady-state value is defined as the value at which the frequency eventually stabilizes, denoted by f ∞ , let the analytical formula (17) tend to infinity as time t, then we get:

[0101]

[0102] In the formula, f 0 is the system steady-state frequency, ΔP i is the power control amount of the ith control, C 0 is the coefficient of the constant term, and m means there are m control actions in 1 second.

[0103] In step 3, the control amount of multiple control measures is calculated based on the threshold constraints of the above safety indicators.

[0104] (1) When different indicators exceed the limit, the control quantity calculation formula of the i-th control measure is determined, which is specifically reflected in three target constraints.

[0105] (2) Determine the minimum control amount required for the i-th measure, which should simultaneously satisfy the above three objective constraints and be the maximum value among them.

[0106] (3) Further determine the control quantity ΔP of the i-th measure cr,iWhether it exceeds the control capacity of the measure. If it exceeds, the control capacity is used as the control amount of the measure, and go to (1) to calculate the control amount of the i+1th control measure until the frequency safety index does not exceed the limit. For the specific process, see Figure 2 shown.

[0107] From the above description, it can be seen that the large power grid frequency safety multi-measure coordinated control method provided in the present application can expand the system frequency response under multiple control measures (including but not limited to DC modulation, pumped storage and pump cutting, and millisecond-level precise load control) into a superposition of multiple frequency responses taking into account delayed power changes, and derive the analytical calculation formula for the frequency safety index taking into account the influence of multiple measures, and then obtain the control decision analytical calculation formula under the constraints of multiple safety indicators, thereby realizing the coordinated control of multiple measures for large power grid frequency safety.

[0108] In one embodiment, see Figure 4 , the pre-built system frequency response model is subjected to an inverse Laplace transform to obtain a time domain expression of the system frequency response, including:

[0109] S201: Determine a constant term of a frequency deviation expression according to a constant term coefficient;

[0110] S202: determining a monotonic attenuation term of the frequency deviation expression according to a monotonic attenuation term coefficient and a monotonic attenuation term time constant;

[0111] S203: determining the oscillation attenuation term of the frequency deviation expression according to the oscillation attenuation term coefficient, the oscillation attenuation term time constant, the oscillation attenuation term angular frequency and the oscillation attenuation term initial phase;

[0112] S204: Determine the frequency deviation expression according to the constant term, the monotonic attenuation term and the oscillation attenuation term;

[0113] S205: Generate a time domain expression of the system frequency response according to the steady-state frequency expression and the frequency deviation expression.

[0114] It can be understood that, specifically, in step 1, an inverse Laplace transform is performed on the complex frequency domain expression of the large power grid frequency response to obtain a time domain expression of the frequency response.

[0115] Among them, the complex frequency domain expression of the large power grid frequency response (also called the large power grid general frequency response model) is:

[0116]

[0117] In the formula, A 0 , A 1 , A 2 , A 3 , B 0 , B 1is the coefficient of the general frequency response model of the large power grid, ΔP d is the power shortage of the large power grid, s is the Laplace operator, and Δf(s) is the frequency change in the frequency domain.

[0118] Performing inverse Laplace transform on equation (15) yields:

[0119]

[0120] Where ΔP is the system power shortage (i.e. disturbance), ε(t) is the unit step response function, and C 0 , C 1 , C 2 are the coefficients of the constant term, monotonic attenuation term, and oscillatory attenuation term, respectively. 1 , T 2 are the time constants of the monotonic decay term and the oscillatory decay term, ω 2 is the angular frequency of the oscillation attenuation term, θ is the initial phase of the oscillation attenuation term, t is the time, and Δf(t) is the frequency change in time domain.

[0121] The system frequency response under emergency control can be considered as the frequency response after superimposing the new power change (control amount) taking into account the delay (control measure delay) on the basis of the initial power disturbance, see Figure 1 Assume that the initial power disturbance ΔP 0 , the delay is τ 0 , various emergency control measures are put into use according to the operation priority, recorded as the i-th power control amount ΔP i , the delay is τ i , the frequency response analytical formula considering multiple control measures under emergency control can be expressed as:

[0122]

[0123] Where ε(t) is the unit step response function, f 0 is the system steady-state frequency, ΔP i is the i-th power control amount, τ i To control the delay, C 0 , C 1 , C 2 are the coefficients of the constant term, monotonic attenuation term, and oscillatory attenuation term, respectively. 1 , T 2 are the time constants of the monotonic decay term and the oscillatory decay term, ω 2 is the angular frequency of the oscillation attenuation term, θ is the initial phase of the oscillation attenuation term, and t is time.

[0124] From the above description, it can be seen that the large power grid frequency security multi-measure coordinated control method provided in the present application can perform an inverse Laplace transform on a pre-built system frequency response model to obtain a time domain expression of the system frequency response.

[0125] In one embodiment, see Figure 5 , the frequency safety index includes the initial frequency change rate; the frequency safety index under multiple control measures generated according to the time domain expression includes:

[0126] S301: Calculate the frequency at the zeroth moment and the frequency at the first moment respectively according to the time domain expression;

[0127] S302: Calculating the frequency change rate during the control process according to the zeroth moment frequency and the first moment frequency;

[0128] S303: Linearize the frequency change rate in the control process to obtain the initial frequency change rate.

[0129] It can be understood that the frequency safety index under multiple control measures is calculated analytically based on the new frequency response formula: the initial frequency change rate.

[0130] In the above step 2, the analytical formula of the frequency safety index under the action of the i-th control measure is as follows:

[0131] For the initial frequency change rate, combined with actual conditions, the initial frequency change rate can be defined as the change rate of the frequency within 1 second after the disturbance. Therefore, the approximate analytical formula for the initial frequency change rate of a single process within 1 second can be derived from formula (16):

[0132]

[0133] In the formula, S 0 is the frequency change rate of a single process within 1s, f(1) and f(0) are the frequencies at 1s and 0s respectively, Δf 0 (1) and Δf 0 (0) are the frequency change rates at 1s and 0s, ΔP 0 is the initial power disturbance, C 1 , C 2 are the coefficients of the monotonic attenuation term and the oscillatory attenuation term, T 1 is the time constant of the monotonic decay term, ω 2 is the angular frequency of the oscillation attenuation term.

[0134] For the system frequency response under emergency frequency control, assuming that there are m control actions within 1 second, it can be considered as the superposition of m single processes, that is:

[0135]

[0136] Where S is the initial frequency change rate of m control processes within 1s, f(1) and f(0) are the frequencies at 1s and 0s respectively, and Δf i (1-τ i ) is the ith control 1-τ i Frequency change at time, τ i is the control delay of the ith time, Δf i (0) is the frequency change at 0s of the i-th control, and m is the number of controls within 1s.

[0137] Considering that within 1s at the beginning of the disturbance, the frequency change rate can be approximately considered linear, the linearization of equation (19) yields:

[0138]

[0139] Where Δf i (0) is the frequency change at 0s of the i-th control, τ i is the control delay of the ith time, Δf i (1-τ i ) is the ith control 1-τ i The frequency change at the moment, m is the number of controls within 1s, Δf i (1) is the frequency change at 1s of the i-th control, S i is the frequency change rate within 1s of the i-th control.

[0140] Substituting formula (18) into formula (20), and then substituting formula (20) into formula (19), we get:

[0141]

[0142] In the formula, S i is the frequency change rate within 1s of the i-th control, ΔP i is the power control amount of the ith control, C 1 , C 2 are the coefficients of the monotonic attenuation term and the oscillatory attenuation term, T 1 is the time constant of the monotonic decay term, ω 2 is the angular frequency of the oscillation attenuation term, τ i is the i-th control delay, and m means there are m control actions within 1 second.

[0143] From the above description, it can be seen that the large power grid frequency security multi-measure coordinated control method provided in the present application can generate frequency security indicators under multiple control measures according to the time domain expression.

[0144] In one embodiment, see Figure 6, the frequency safety index includes the maximum frequency value; the frequency safety index under multiple control measures generated according to the time domain expression includes:

[0145] S401: Calculating the frequency change when the frequency reaches the maximum value according to the time when the frequency reaches the maximum value and the time domain expression;

[0146] S402: Determine the sum of the steady-state frequency in the steady-state frequency expression and the frequency change when the frequency reaches the maximum value as the frequency maximum value.

[0147] It can be understood that in the aforementioned step 2, the frequency maximum value f m and frequency maximum time T m One-to-one correspondence, T m is the time when the frequency reaches the maximum value. Since the frequency maximum time is relatively large, the monotonic attenuation term in formula (17) can be ignored, and T m Substituting into formula (17), we get:

[0148]

[0149] In the formula, f m is the maximum frequency, T m is the frequency maximum time, f 0 is the system steady-state frequency, C 0 , C 2 are the coefficients of the constant term and the oscillation attenuation term, ΔP i is the power control amount of the ith control, ω 2 is the angular frequency of the oscillation attenuation term, θ is the initial phase of the oscillation attenuation term, m means there are m control actions in 1 second, τ i is the control delay of the ith time, T 2 is the time constant of the oscillation decay term.

[0150] From the above description, it can be seen that the large power grid frequency security multi-measure coordinated control method provided in the present application can generate frequency security indicators under multiple control measures according to the time domain expression.

[0151] In one embodiment, see Figure 7 , the frequency safety index includes a frequency steady-state value; the frequency safety index under multiple control measures generated according to the time domain expression includes:

[0152] S501: Calculate the final value of the system frequency change when the time in the time domain expression approaches infinity;

[0153] S502: Determine the sum of the steady-state frequency in the steady-state frequency expression and the final value of the system frequency change as the frequency steady-state value.

[0154] It can be understood that in the aforementioned step 2, the frequency safety index under multiple control measures is analytically calculated according to the new frequency response formula: the frequency steady-state value.

[0155] The frequency steady-state value is defined as the value at which the frequency eventually stabilizes, denoted by f ∞ , let the analytical formula (17) tend to infinity as time t, then we get:

[0156]

[0157] In the formula, f 0 is the system steady-state frequency, ΔP i is the power control amount of the ith control, C 0 is the coefficient of the constant term, and m means there are m control actions in 1 second.

[0158] From the above description, it can be seen that the large power grid frequency security multi-measure coordinated control method provided in the present application can generate frequency security indicators under multiple control measures according to the time domain expression.

[0159] In one embodiment, see Figure 8 , the calculating of the safety multi-measure coordinated control amount according to the constraint conditions corresponding to the frequency safety index includes:

[0160] S601: If the initial frequency change rate is greater than a preset allowable value of the initial frequency change rate, determine a first power control amount according to the monotonic attenuation term time constant, the power control delay before taking measures, the power control amount, the monotonic attenuation term coefficient, the oscillation attenuation term coefficient and the oscillation attenuation term angular frequency;

[0161] S602: If the frequency maximum is less than the preset frequency maximum allowable value, determine the second power control amount according to the power control delay, power control amount, constant term coefficient, oscillation attenuation term coefficient, frequency maximum time, oscillation attenuation term angular frequency, oscillation attenuation term initial phase and steady-state frequency expression before taking the measures;

[0162] S603: Determine a third power control amount according to the steady-state frequency expression, the constant term coefficient and the power control amount;

[0163] S604: Determine a maximum power control amount among the first power control amount, the second power control amount, and the third power control amount as a safety multi-measure coordinated control amount.

[0164] It can be understood that the control amount of multiple control measures is calculated and decided based on the threshold constraints of the above safety indicators.

[0165] In the aforementioned step 3, the control amount of the multiple control measures is calculated based on the threshold constraints of the above safety indicators.

[0166] (1) When different indicators exceed the limit, the calculation formula for the control amount of the i-th control measure is:

[0167] 1) The initial frequency change rate S is greater than the allowable value S cr :

[0168]

[0169] ΔP cr,i,1 S is the power control amount considering the initial frequency change rate indicator. cr is the allowable value of the initial frequency change rate, C 1 , C 2 are the coefficients of the monotonic attenuation term and the oscillatory attenuation term, T 1 is the time constant of the monotonic decay term, τ j is the action delay before the i-th measure, ΔP j is the power control amount before the i-th measure, ω 2 is the angular frequency of the oscillation attenuation term, τ i is the action delay of the i-th control.

[0170] 2) Lowest frequency point f m Less than the allowable value f cr,1 ,Right now:

[0171]

[0172] ΔP cr,i,2 is the power control amount considering the frequency maximum value index, f cr,1 is the maximum allowable value of frequency, C 0 ,C 2 is the coefficient of the constant term and the oscillation attenuation term, f 0 is the system steady-state frequency, T m is the frequency maximum time, T 2 is the time constant of the oscillation decay term, ω 2 is the angular frequency of the oscillation attenuation term, θ is the initial phase of the oscillation attenuation term, τ j is the action delay before the i-th measure, ΔP j is the power control amount before the i-th measure.

[0173] 3) Steady-state frequency value f ∞ Less than the allowable value f cr,2 ,Right now:

[0174]

[0175] ΔP cr,i,3 is the power control quantity considering the frequency steady-state value index, f 0 is the system steady-state frequency, C 0 is the coefficient of the constant term, ΔPj is the power control amount before the i-th measure.

[0176] (2) The minimum control amount required for the i-th measure should be the maximum value that satisfies the above three objectives at the same time, that is:

[0177] ΔP cr,i =max{ΔP cr,i,1 ,ΔP cr,i,2 ,ΔP cr,i,3} (27)

[0178] ΔP cr,i,1 is the power control amount considering the initial frequency change rate indicator, ΔP cr,i,2 ΔP is the power control amount considering the frequency maximum index. cr,i,3 is the power control quantity considering the frequency steady-state value index, ΔP cr,i is the minimum control amount required for the ith measure.

[0179] (3) Further determine the control quantity ΔP of the i-th measure cr,i Whether it exceeds the control capacity of the measure. If it exceeds, the control capacity is used as the control amount of the measure, and go to (1) to calculate the control amount of the i+1th control measure until the frequency safety index does not exceed the limit. For the specific process, see Figure 2 shown.

[0180] Based on the general frequency response model, the present invention performs an inverse Laplace transform on the transfer function model obtained by online identification or aggregation, obtains the time domain analytical expression of the system frequency response, and regards it as the frequency response after superimposing a new power change (control amount) taking into account the delay (control measure delay) on the basis of the initial power disturbance. Then the new frequency response is brought into the frequency safety index to obtain the system frequency safety index under emergency control. At this time, if the system frequency safety index meets each threshold, the system does not need frequency safety control; otherwise, emergency control measures will be taken.

[0181] For various control measures, the minimum control amount required for the measure can be calculated according to different frequency safety indicators, and compared with the maximum available capacity of the measure. If the maximum capacity is not exceeded, the relevant measures can be activated; if the maximum capacity is exceeded, the minimum control amount of the next measure will be calculated (there is a priority order for various measures here), and the process will be carried out in sequence until the maximum available capacity of the measure is not exceeded. For a specific flow chart, see the attached figure description. Figure 2 .

[0182] From the above description, it can be seen that the large power grid frequency safety multi-measure coordinated control method provided in the present application can calculate the safety multi-measure coordinated control quantity according to the constraint conditions corresponding to the frequency safety index.

[0183] Based on the same inventive concept, the embodiments of the present application also provide a large power grid frequency safety multi-measure collaborative control device, which can be used to implement the method described in the above embodiments, as described in the following embodiments. Since the principle of solving the problem by the large power grid frequency safety multi-measure collaborative control device is similar to the large power grid frequency safety multi-measure collaborative control method, the implementation of the large power grid frequency safety multi-measure collaborative control device can refer to the implementation of the method based on software performance benchmark determination, and the repeated parts will not be repeated. As used below, the term "unit" or "module" can be a combination of software and / or hardware that implements predetermined functions. Although the system described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceived.

[0184] In one embodiment, see Fig. 9 In order to realize multi-measure collaborative analysis and control decision-making for large power grid frequency safety, the present application provides a large power grid frequency safety multi-measure collaborative control device, including: a time domain expression determination unit 1201, a safety index determination unit 1202 and a collaborative control determination unit 1203.

[0185] The time domain expression determination unit 1201 is used to perform an inverse Laplace transform on a pre-built system frequency response model to obtain a time domain expression of the system frequency response;

[0186] A safety index determination unit 1202, configured to generate a frequency safety index under multiple control measures according to the time domain expression;

[0187] The collaborative control determination unit 1203 is used to calculate the collaborative control quantity of each measure according to the constraint conditions corresponding to the frequency safety index; wherein the measures include DC modulation, pumped storage and pump cutting, energy storage and precise load control.

[0188] In one embodiment, see Fig.10 The time domain expression determination unit 1201 includes: a constant term generation module 1301, a monotonic attenuation term generation module 1302, an oscillation attenuation term generation module 1303, a deviation expression generation module 1304 and a time domain expression generation module 1305.

[0189] A constant term generating module 1301, used for determining a constant term of a frequency deviation expression according to a constant term coefficient;

[0190] A monotonic attenuation term generating module 1302, configured to determine the monotonic attenuation term of the frequency deviation expression according to the monotonic attenuation term coefficient and the monotonic attenuation term time constant;

[0191] An oscillation attenuation term generating module 1303, used to determine the oscillation attenuation term of the frequency deviation expression according to the oscillation attenuation term coefficient, the oscillation attenuation term time constant, the oscillation attenuation term angular frequency and the oscillation attenuation term initial phase;

[0192] A deviation expression generating module 1304, configured to determine the frequency deviation expression according to the constant term, the monotonic attenuation term and the oscillation attenuation term;

[0193] The time domain expression generation module 1305 is used to generate the time domain expression of the system frequency response according to the steady-state frequency expression and the frequency deviation expression.

[0194] In one embodiment, see Fig.11 The frequency safety index includes the initial frequency change rate; the safety index determination unit 1202 includes: a moment frequency determination module 1401, a process frequency change determination module 1402 and an initial change determination module 1403.

[0195] A time frequency determination module 1401, used to calculate the zeroth time frequency and the first time frequency respectively according to the time domain expression;

[0196] A process frequency change determination module 1402, configured to calculate a frequency change rate during a control process according to the frequency at the zeroth moment and the frequency at the first moment;

[0197] The initial change determination module 1403 is used to linearize the frequency change rate in the control process to obtain the initial frequency change rate.

[0198] In one embodiment, see Fig.12 , the frequency safety index includes the maximum frequency value; the safety index determination unit 1202 includes: a maximum frequency change determination module 1501 and a frequency maximum value determination module 1502.

[0199] The maximum frequency change determination module 1501 is used to calculate the frequency change amount when the frequency reaches the maximum value according to the time when the frequency reaches the maximum value and the time domain expression;

[0200] The frequency maximum value determination module 1502 is used to determine the sum of the steady-state frequency in the steady-state frequency expression and the frequency change when the frequency reaches the maximum value as the frequency maximum value.

[0201] In one embodiment, see Fig.13 , the frequency safety index includes a frequency steady-state value; the safety index determination unit 1202 includes: a change final value determination module 1601 and a frequency steady-state determination module 1602.

[0202] A final change value determination module 1601 is used to calculate a final change value of the system frequency when the time in the time domain expression approaches infinity;

[0203] The frequency steady-state determination module 1602 is used to determine the sum of the steady-state frequency in the steady-state frequency expression and the final value of the system frequency change as the frequency steady-state value.

[0204] In one embodiment, see Fig.14 The collaborative control determination unit 703 includes: a first power control determination module 1701, a second power control determination module 1702, a third power control determination module 1703 and a collaborative control determination module 1704.

[0205] The first power control determination module 1701 is configured to determine a first power control amount according to the monotonic attenuation term time constant, the power control delay before taking measures, the power control amount, the monotonic attenuation term coefficient, the oscillation attenuation term coefficient and the oscillation attenuation term angular frequency if the initial frequency change rate is greater than a preset initial frequency change rate allowable value;

[0206] The second power control determination module 1702 is used to determine the second power control amount according to the power control delay, power control amount, constant term coefficient, oscillation attenuation term coefficient, frequency maximum time, oscillation attenuation term angular frequency, oscillation attenuation term initial phase and steady-state frequency expression before taking measures if the frequency maximum value is less than the preset frequency maximum allowable value;

[0207] A third power control determination module 1703, configured to determine a third power control amount according to the steady-state frequency expression, the constant term coefficient and the power control amount;

[0208] The coordinated control determination module 1704 is used to determine that the maximum power control amount among the first power control amount, the second power control amount and the third power control amount is a safety multi-measure coordinated control amount.

[0209] From the hardware level, in order to realize the multi-measure collaborative analysis control decision of large power grid frequency security, the present application provides an embodiment of an electronic device for realizing all or part of the contents of the multi-measure collaborative control method of large power grid frequency security, and the electronic device specifically includes the following contents:

[0210] Processor, memory, communication interface and bus; wherein the processor, memory and communication interface communicate with each other through the bus; the communication interface is used to realize information transmission between the large power grid frequency safety multi-measure collaborative control device and related equipment such as core business systems, user terminals and related databases; the logic controller can be a desktop computer, a tablet computer and a mobile terminal, etc., but the present embodiment is not limited thereto. In the present embodiment, the logic controller can be implemented with reference to the embodiment of the large power grid frequency safety multi-measure collaborative control method and the embodiment of the large power grid frequency safety multi-measure collaborative control device in the embodiment, and the contents thereof are incorporated herein, and the repeated parts are not repeated.

[0211] It is understandable that the user terminal may include a smart phone, a tablet electronic device, a network set-top box, a portable computer, a desktop computer, a personal digital assistant (PDA), a vehicle-mounted device, a smart wearable device, etc. Among them, the smart wearable device may include smart glasses, a smart watch, a smart bracelet, etc.

[0212] In practical applications, part of the large power grid frequency safety multi-measure collaborative control method can be executed on the electronic device side as described above, or all operations can be completed in the client device. The specific selection can be based on the processing capability of the client device and the limitations of the user's usage scenario. This application does not limit this. If all operations are completed in the client device, the client device may also include a processor.

[0213] The client device may have a communication module (i.e., a communication unit) that can communicate with a remote server to achieve data transmission with the server. The server may include a server on the task scheduling center side, and other implementation scenarios may also include a server on an intermediate platform, such as a server on a third-party server platform that has a communication link with the task scheduling center server. The server may include a single computer device, or a server cluster consisting of multiple servers, or a server structure of a distributed device.

[0214] Fig.15 FIG. 9 is a schematic block diagram of the system structure of the electronic device 9600 according to an embodiment of the present application. Fig.15 As shown, the electronic device 9600 may include a central processor 9100 and a memory 9140; the memory 9140 is coupled to the central processor 9100. It is worth noting that Fig.15 is exemplary; other types of structures may also be used to supplement or replace this structure to implement telecommunication functions or other functions.

[0215] In one embodiment, the function of the large power grid frequency safety multi-measure coordinated control method can be integrated into the central processor 9100. The central processor 9100 can be configured to perform the following control:

[0216] S101: Perform inverse Laplace transform on the pre-built system frequency response model to obtain a time domain expression of the system frequency response;

[0217] S102: generating a frequency safety index under multiple control measures according to the time domain expression;

[0218] S103: Calculating the coordinated control quantity of each measure according to the constraint conditions corresponding to the frequency safety index; wherein the measures include DC modulation, pumped storage and pump cutting, energy storage and precise load control.

[0219] From the above description, it can be seen that the large power grid frequency safety multi-measure coordinated control method provided in the present application can expand the system frequency response under multiple control measures (including but not limited to DC modulation, pumped storage and pump cutting, and millisecond-level precise load control) into a superposition of multiple frequency responses taking into account delayed power changes, and derive the analytical calculation formula for the frequency safety index taking into account the influence of multiple measures, and then obtain the control decision analytical calculation formula under the constraints of multiple safety indicators, thereby realizing the coordinated control of multiple measures for large power grid frequency safety.

[0220] In another embodiment, the large power grid frequency safety multi-measure coordinated control device can be configured separately from the central processing unit 9100. For example, the data composite transmission device large power grid frequency safety multi-measure coordinated control device can be configured as a chip connected to the central processing unit 9100, and the functions of the large power grid frequency safety multi-measure coordinated control method can be realized through the control of the central processing unit.

[0221] like Fig.15 As shown, the electronic device 9600 may also include: a communication module 9110, an input unit 9120, an audio processor 9130, a display 9160, and a power supply 9170. It is worth noting that the electronic device 9600 does not necessarily have to include Fig.15 In addition, the electronic device 9600 may also include Fig.15 For components not shown, reference may be made to the prior art.

[0222] like Fig.15 As shown, the central processing unit 9100 is sometimes also referred to as a controller or an operation control, and may include a microprocessor or other processor device and / or logic device. The central processing unit 9100 receives input and controls the operation of various components of the electronic device 9600.

[0223] The memory 9140 may be, for example, one or more of a cache, a flash memory, a hard drive, a removable medium, a volatile memory, a non-volatile memory or other suitable devices. The above-mentioned information related to the failure may be stored, and a program for executing the relevant information may also be stored. The CPU 9100 may execute the program stored in the memory 9140 to implement information storage or processing, etc.

[0224] The input unit 9120 provides input to the central processing unit 9100. The input unit 9120 is, for example, a key or a touch input device. The power supply 9170 is used to provide power to the electronic device 9600. The display 9160 is used to display display objects such as images and texts. The display may be, for example, an LCD display, but is not limited thereto.

[0225] The memory 9140 may be a solid-state memory, such as a read-only memory (ROM), a random access memory (RAM), a SIM card, etc. It may also be a memory that saves information even when the power is off, can be selectively erased, and is provided with more data, examples of which are sometimes referred to as EPROMs, etc. The memory 9140 may also be some other type of device. The memory 9140 includes a buffer memory 9141 (sometimes referred to as a buffer). The memory 9140 may include an application / function storage unit 9142, which is used to store application programs and function programs or processes for executing the operation of the electronic device 9600 through the central processor 9100.

[0226] The memory 9140 may also include a data storage unit 9143 for storing data, such as contacts, digital data, pictures, sounds, and / or any other data used by the electronic device. The driver storage unit 9144 of the memory 9140 may include various drivers for communication functions of the electronic device and / or for executing other functions of the electronic device (such as messaging applications, address book applications, etc.).

[0227] The communication module 9110 is a transmitter / receiver 9110 that sends and receives signals via an antenna 9111. The communication module (transmitter / receiver) 9110 is coupled to the central processor 9100 to provide input signals and receive output signals, which may be the same as the case of a conventional mobile communication terminal.

[0228] Based on different communication technologies, multiple communication modules 9110 may be provided in the same electronic device, such as a cellular network module, a Bluetooth module and / or a wireless LAN module. The communication module (transmitter / receiver) 9110 is also coupled to a speaker 9131 and a microphone 9132 via an audio processor 9130 to provide an audio output via the speaker 9131 and receive an audio input from the microphone 9132, thereby realizing a common telecommunication function. The audio processor 9130 may include any suitable buffer, decoder, amplifier, etc. In addition, the audio processor 9130 is also coupled to the central processor 9100, so that recording can be performed on the local machine through the microphone 9132, and the sound stored on the local machine can be played through the speaker 9131.

[0229] The embodiments of the present application also provide a computer-readable storage medium capable of implementing all the steps of the large power grid frequency safety multi-measure coordinated control method in the above-mentioned embodiment, where the execution subject is a server or a client. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, all the steps of the large power grid frequency safety multi-measure coordinated control method in the above-mentioned embodiment are implemented by the execution subject being a server or a client. For example, when the processor executes the computer program, the following steps are implemented:

[0230] S101: Perform inverse Laplace transform on the pre-built system frequency response model to obtain a time domain expression of the system frequency response;

[0231] S102: generating a frequency safety index under multiple control measures according to the time domain expression;

[0232] S103: Calculating the coordinated control quantity of each measure according to the constraint conditions corresponding to the frequency safety index; wherein the measures include DC modulation, pumped storage and pump cutting, energy storage and precise load control.

[0233] From the above description, it can be seen that the large power grid frequency safety multi-measure coordinated control method provided in the present application can expand the system frequency response under multiple control measures (including but not limited to DC modulation, pumped storage and pump cutting, and millisecond-level precise load control) into a superposition of multiple frequency responses taking into account delayed power changes, and derive the analytical calculation formula for the frequency safety index taking into account the influence of multiple measures, and then obtain the control decision analytical calculation formula under the constraints of multiple safety indicators, thereby realizing the coordinated control of multiple measures for large power grid frequency safety.

[0234] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, devices, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0235] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (apparatus), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0236] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0237] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0238] The present invention uses specific embodiments to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A multi-measure coordinated control method for large power grid frequency security, characterized in that: include: Perform inverse Laplace transform on the pre-built system frequency response model to obtain the time domain expression of the system frequency response; Generate a frequency safety index under multiple control measures according to the time domain expression; The safety multi-measure coordinated control amount is calculated according to the constraint conditions corresponding to the frequency safety index.

2. The large power grid frequency safety multi-measure coordinated control method according to claim 1 is characterized in that: The inverse Laplace transform is performed on the pre-built system frequency response model to obtain a time domain expression of the system frequency response, including: Determine the constant term of the frequency deviation expression according to the constant term coefficient; Determine the monotonic attenuation term of the frequency deviation expression according to the monotonic attenuation term coefficient and the monotonic attenuation term time constant; Determine the oscillation attenuation term of the frequency deviation expression according to the oscillation attenuation term coefficient, the oscillation attenuation term time constant, the oscillation attenuation term angular frequency and the oscillation attenuation term initial phase; Determine the frequency deviation expression according to the constant term, the monotonic attenuation term and the oscillation attenuation term; A time domain expression of the system frequency response is generated according to the steady-state frequency expression and the frequency deviation expression.

3. The large power grid frequency safety multi-measure coordinated control method according to claim 2 is characterized in that: The frequency safety index includes the initial frequency change rate; Generating a frequency safety index under multiple control measures according to the time domain expression includes: Calculate the frequency at the zeroth moment and the frequency at the first moment respectively according to the time domain expression; Calculate the frequency change rate during the control process according to the zeroth moment frequency and the first moment frequency; The frequency change rate in the control process is linearized to obtain the initial frequency change rate.

4. The large power grid frequency safety multi-measure coordinated control method according to claim 3 is characterized in that: The frequency safety index includes a maximum frequency value; Generating the frequency safety index under multiple control measures according to the time domain expression includes: Calculate the frequency change when the frequency reaches the maximum value according to the time when the frequency reaches the maximum value and the time domain expression; The sum of the steady-state frequency in the steady-state frequency expression and the frequency change when the frequency reaches the maximum value is determined as the frequency maximum value.

5. The large power grid frequency safety multi-measure coordinated control method according to claim 4 is characterized in that: The frequency safety index includes a frequency steady-state value; Generating a frequency safety index under multiple control measures according to the time domain expression includes: Calculate the final value of the system frequency change when the time in the time domain expression approaches infinity; The sum of the steady-state frequency in the steady-state frequency expression and the final value of the system frequency change is determined as the frequency steady-state value.

6. The large power grid frequency safety multi-measure coordinated control method according to claim 5 is characterized in that: The calculating of the safety multi-measure coordinated control amount according to the constraint conditions corresponding to the frequency safety index includes: If the initial frequency change rate is greater than a preset allowable value of the initial frequency change rate, determining a first power control amount according to the monotonic attenuation term time constant, the power control delay before taking measures, the power control amount, the monotonic attenuation term coefficient, the oscillation attenuation term coefficient and the oscillation attenuation term angular frequency; If the frequency maximum is less than the preset frequency maximum allowable value, determine the second power control amount according to the power control delay, power control amount, constant term coefficient, oscillation attenuation term coefficient, frequency maximum time, oscillation attenuation term angular frequency, oscillation attenuation term initial phase and steady-state frequency expression before taking the measures; Determine a third power control amount according to the steady-state frequency expression, the constant term coefficient and the power control amount; Determine a maximum power control amount among the first power control amount, the second power control amount, and the third power control amount as a safety multi-measure coordinated control amount.

7. A large power grid frequency safety multi-measure coordinated control device, characterized in that: include: A time domain expression determination unit is used to perform an inverse Laplace transform on a pre-built system frequency response model to obtain a time domain expression of the system frequency response; A safety index determination unit, used for generating a frequency safety index under multiple control measures according to the time domain expression; The collaborative control determination unit is used to calculate the collaborative control amount of each measure according to the constraint conditions corresponding to the frequency safety index.

8. The large power grid frequency safety multi-measure coordinated control device according to claim 7 is characterized in that: The time domain expression determination unit includes: A constant term generating module, used for determining a constant term of a frequency deviation expression according to a constant term coefficient; A monotonic attenuation term generating module, used for determining the monotonic attenuation term of the frequency deviation expression according to the monotonic attenuation term coefficient and the monotonic attenuation term time constant; An oscillation attenuation term generating module, used for determining the oscillation attenuation term of the frequency deviation expression according to the oscillation attenuation term coefficient, the oscillation attenuation term time constant, the oscillation attenuation term angular frequency and the oscillation attenuation term initial phase; A deviation expression generating module, used for determining the frequency deviation expression according to the constant term, the monotonic attenuation term and the oscillation attenuation term; The time domain expression generation module is used to generate the time domain expression of the system frequency response according to the steady-state frequency expression and the frequency deviation expression.

9. The large power grid frequency safety multi-measure coordinated control device according to claim 8, characterized in that: The frequency safety index includes the initial frequency change rate; The safety indicator determination unit includes: A time frequency determination module, used to calculate the zeroth time frequency and the first time frequency respectively according to the time domain expression; A process frequency change determination module, used to calculate the frequency change rate in the control process according to the zeroth moment frequency and the first moment frequency; The initial change determination module is used to linearize the frequency change rate in the control process to obtain the initial frequency change rate.

10. The large power grid frequency safety multi-measure coordinated control device according to claim 9, characterized in that: The frequency safety index includes a maximum frequency value; The safety indicator determination unit includes: A maximum frequency change determination module, used for calculating the frequency change amount when the frequency reaches the maximum value according to the time when the frequency reaches the maximum value and the time domain expression; The frequency maximum value determination module is used to determine the sum of the steady-state frequency in the steady-state frequency expression and the frequency change when the frequency reaches the maximum value as the frequency maximum value.

11. The large power grid frequency safety multi-measure coordinated control device according to claim 10, characterized in that: The frequency safety index includes a frequency steady-state value; The safety indicator determination unit includes: A final value change determination module, used to calculate the final value of the system frequency change when the time in the time domain expression tends to infinity; The frequency steady-state determination module is used to determine the sum of the steady-state frequency in the steady-state frequency expression and the final value of the system frequency change as the frequency steady-state value.

12. The large power grid frequency safety multi-measure coordinated control device according to claim 11, characterized in that: The collaborative control determination unit includes: A first power control determination module is configured to determine a first power control amount according to the monotonic attenuation term time constant, the power control delay before taking measures, the power control amount, the monotonic attenuation term coefficient, the oscillation attenuation term coefficient and the oscillation attenuation term angular frequency if the initial frequency change rate is greater than a preset initial frequency change rate allowable value; A second power control determination module is used to determine the second power control amount according to the power control delay, power control amount, constant term coefficient, oscillation attenuation term coefficient, frequency maximum time, oscillation attenuation term angular frequency, oscillation attenuation term initial phase and steady-state frequency expression before taking measures if the frequency maximum value is less than the preset frequency maximum allowable value; A third power control determination module, configured to determine a third power control amount according to the steady-state frequency expression, the constant term coefficient and the power control amount; The collaborative control determination module is used to determine that the maximum power control amount among the first power control amount, the second power control amount and the third power control amount is a safety multi-measure collaborative control amount.

13. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps of the large power grid frequency safety multi-measure coordinated control method described in any one of claims 1 to 6 are implemented.

14. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the large power grid frequency safety multi-measure coordinated control method described in any one of claims 1 to 6 are implemented.

15. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instruction is executed by a processor, the steps of the large power grid frequency safety multi-measure coordinated control method as described in any one of claims 1 to 6 are implemented.

Images